TWI788848B - PCB automatic processing method with automatic pin pulling function - Google Patents

Abstract

A PCB automatic processing equipment with the function of automatically pulling out pins, including Equipment body, industrial computer, motion control card, PLC, X-axis moving platform, Y-axis moving platform, Z-axis moving platform, X-axis servo drive device, Y-axis servo drive device and Z-axis servo drive device, the Z-axis movement The platform is equipped with an electric spindle, a tool magazine manipulator, an automatic pinning mechanism and an automatic pin pulling mechanism. The end of the workbench close to the X-axis moving platform is provided with a pin magazine and a tool magazine. The industrial computer and the motion control card Connection, the PLC is connected with the motion control card, the PLC is connected with the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator, and the electric spindle is connected with the motion control card.

Description

PCB automatic processing method with automatic pin pulling function

The invention relates to the field of PCB processing, and in particular to an automatic PCB processing method with the function of automatically pulling out pins.

At present, the Printed Circuit Board (PCB) needs to be positioned and reprocessed in the early stage of processing. The positioning method is through pin positioning. Generally, pins of several diameters are used according to the design method of the PCB, so as to ensure During the process, the PCB will not shift.

The way of conventional pins on the PCB is manual pinning, the main way is: first use the electric spindle to drill pin holes on the bakelite board on the top surface of the workbench, and then the operator uses a hammer to drive the pins into the pin holes one by one. Then use the positioning holes on the PCB to fit the pins on the bakelite board to ensure that the PCB is fixed under the pins, and then process the PCB by drilling and milling; if it is a multi-axis PCB processing equipment, there are multiple processes. unit, each processing unit requires the above fitting work.

After the PCB is processed, the operator removes the processed PCB in each processing unit area. The pins reserved on the bakelite board need to be manually pulled out one by one, which is time-consuming and labor-intensive. At the same time, as the types of PCBs processed on bakelite boards increase, the cumulative number of pin holes on bakelite boards will increase, which will make it difficult or impossible for operators to find to the punched pin hole. In addition, there will also be situations where the position of the pin hole is wrongly punched, which will cause the wrong pin hole on the pin, resulting in the failure of the PCB to fit together, which will greatly affect the processing efficiency.

After the pins are pulled out, different types of pins need to be classified and managed, which has a great impact on work efficiency.

The technical problem to be solved by the present invention is to provide a kind of PCB processing automatic equipment and automatic processing method for the above-mentioned deficiencies in the prior art. On the basis of PCB processing equipment software and hardware, mechanical mechanism and control software and hardware are added to realize pulling out pins. The automation and precision of the whole process can greatly improve the automation of PCB processing equipment, thereby improving production efficiency and success rate.

The technical solution adopted in the present invention is: an automatic PCB processing equipment with the function of automatically pulling out pins, including the equipment body, industrial computer, motion control card, PLC, and an X-axis arranged at one end of the equipment body and along the horizontal direction The mobile platform, the Y-axis mobile platform arranged under the X-axis mobile platform and perpendicular to the X-axis mobile platform, the Z-axis mobile platform arranged vertically on the X-axis mobile platform and perpendicular to the Y-axis mobile platform, and the X-axis mobile platform The X-axis moving platform is connected to and drives the X-axis moving platform to move, the Y-axis servo driving device is connected to the Y-axis moving platform and drives the Y-axis moving platform, and the Z-axis moving platform is connected to and drives the Z-axis moving platform. A moving Z-axis servo drive device, the Y-axis moving platform is provided with a workbench that can move along it, the workbench is provided with a Bakelite board, and the Z-axis moves The platform is equipped with an electric spindle, a tool magazine manipulator, an automatic pinning mechanism and an automatic pin pulling mechanism. The end of the workbench close to the X-axis moving platform is provided with a pin magazine and a tool magazine. The industrial computer and the motion control card connection, the PLC is connected with the motion control card, and the PLC is connected with the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator through the pinning control element, the pin pulling control element and the manipulator control element respectively, and the movement The control card is connected to the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform through the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device respectively, and the electric spindle is connected to the motion control card.

In one of the embodiments, the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform are respectively equipped with an X-axis displacement sensor, a Y-axis displacement sensor and a Z-axis displacement sensor. The axis displacement sensor, the Y axis displacement sensor and the Z axis displacement sensor are all connected with the motion control card.

In one of the embodiments, the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator are respectively provided with a pin driving position sensor, a pin pulling position sensor and a tool magazine manipulator position sensor, so The position sensor for driving the pin, the position sensor for pulling the pin and the position sensor for the manipulator of the tool magazine are all connected to the PLC.

The invention also discloses an automatic PCB processing method with the function of automatically pulling out pins, which includes the following steps: step 10, the industrial computer retrieves the corresponding drilling pin hole instruction according to the position of the pin hole on the PCB to be processed, and through motion control The card and the PLC output the drilling pin hole instruction to the electric spindle and the tool magazine manipulator respectively, the electric spindle and the tool magazine manipulator move to the top of the tool magazine, the tool magazine manipulator grabs the required drill, and the electric spindle completes the alignment of the drill outfit Clamp and move to the top of the bakelite board to be drilled, and complete the drill hole operation on the bakelite board; step 20, the industrial computer calls the dowel punching command corresponding to the drill pin hole command, and outputs the pin punching command to the Automatic pinning mechanism, the automatic pinning mechanism moves to the top of the pin library, grabs the pins and moves to the top of the bakelite board that has completed the drilling of pin holes in step 10, and completes the pinning operation; step 30, connect the PCB and the pins on the bakelite board Fitting, assembling and fixing the PCB, the industrial computer retrieves the corresponding PCB processing instructions, and outputs the PCB processing instructions to the electric spindle and the tool magazine manipulator respectively through the motion control card and PLC, and the electric spindle and the tool magazine manipulator move to the tool The warehouse worker, the tool magazine manipulator grabs the required processing tools, the electric spindle completes the clamping of the processing tools and moves to the top of the PCB to be processed, completes the PCB processing operation and removes the PCB; step 40, the industrial computer calls The pin pulling command corresponding to the pinning command, and output the pin pulling command to the automatic pin pulling mechanism through the PLC, the automatic pin pulling mechanism moves to the top of the bakelite board with the pin, pulls out the pin and puts the pulled pin into the pin library, Complete the pin pulling operation, and the processing is over.

In one of the embodiments, the step 10 is specifically as follows: step 101, the industrial computer transfers the corresponding drilling pin hole instruction according to the pin hole position on the PCB to be processed, and drills the pin hole through the motion control card and PLC The commands are respectively output to the electric spindle and the tool magazine manipulator; step 102, the motion control card drives the X-axis moving platform, the Y-axis moving platform, and the Y-axis moving platform through the X-axis servo drive device, the Y-axis servo The moving platform and the Z-axis moving platform move, driving the tool magazine manipulator and the electric spindle to move to the top of the tool magazine. The PLC controls the tool magazine manipulator to grab the required drill through the manipulator control element, and the motion control card controls the electric spindle to complete alignment. The clamping of the drilling tool; step 103, the motion control card drives the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move respectively through the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device, driving The electric spindle moves to the top of the bakelite board to be drilled, and the motion control card controls the electric spindle to start drilling the pin holes; step 104, repeat step 102 and step 103, after all the drill holes on the bakelite board are completed, the motion control card Through the X-axis servo drive device, Y-axis servo drive device and Z-axis servo drive device, the X-axis mobile platform, Y-axis mobile platform and Z-axis mobile platform are respectively driven to move, and the tool magazine manipulator and electric spindle are driven to move above the tool magazine. The motion control card controls the electric spindle to open, and the PLC controls the tool magazine manipulator through the manipulator control element to remove the drill and place the removed drill in the tool magazine, and then drives the X-axis mobile platform and Z-axis mobile platform to move to the initial position. Go to step 20.

In one of the embodiments, the step 20 is specifically as follows: step 201, the industrial computer retrieves the pinning command corresponding to the drilling pin hole command, and outputs the pinning command to the automatic pinning mechanism through the PLC; step 202, The motion control card drives the X-axis moving platform, Y-axis moving platform and Z-axis moving platform respectively through the X-axis servo drive device, Y-axis servo drive device and Z-axis servo drive device, and drives the automatic pin driving mechanism to move to the top of the pin magazine. The PLC controls the automatic pinning mechanism to grab the pins through the pinning control element; step 203, the motion control card passes the X-axis servo drive device, the Y-axis servo The service driving device and the Z-axis servo driving device respectively drive the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, and drive the automatic pinning mechanism to move to the top of the bakelite board where the pin hole drilling operation has been completed in step 10. The pin control element controls the automatic pinning mechanism to drive the captured pin into the pin hole; step 204, repeat step 202 and step 203, and drive the pin into the position where the pin hole is drilled on the bakelite board, and the motion control card passes the X-axis servo The driving device, the Y-axis servo driving device and the Z-axis servo driving device respectively drive the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, drive the X-axis mobile platform and the Z-axis mobile platform to move to the initial position, and enter step 30 .

In one of the embodiments, the step 30 is specifically as follows: step 301, fit the PCB with the pins on the bakelite board, assemble the PCB and fix it, the industrial computer retrieves the corresponding PCB processing instruction, and passes the motion control card and The PLC outputs the drill pin hole instructions to the electric spindle and the tool magazine manipulator respectively; step 302, the motion control card drives the X-axis moving platform, Y-axis The mobile platform and the Z-axis mobile platform move, driving the tool magazine manipulator and the electric spindle to move to the top of the tool magazine. The PLC controls the tool magazine manipulator to grab the required processing tools through the manipulator control components, and the motion control card controls the electric spindle to complete the alignment. The clamping of the required processing tool; step 303, the motion control card drives the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform respectively through the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device Move, drive the electric spindle to move to the top of the PCB to be processed, and the motion control card controls the electric spindle to start PCB processing; Step 304, repeating steps 302 and 303, after the PCB processing operation is completed, the motion control card drives the X-axis moving platform, Y-axis moving platform and The Z-axis mobile platform moves, drives the tool magazine manipulator and the electric spindle to move above the tool magazine, the motion control card controls the electric spindle to open, and the PLC controls the tool magazine manipulator through the manipulator control element to remove the processing tool and place the removed processing tool to the tool magazine, and then drive the X-axis mobile platform and the Z-axis mobile platform to move to the initial position, and go to step 40.

In one of the embodiments, the step 40 is specifically as follows: step 401, the industrial computer retrieves the pin pulling command corresponding to the pinning command, and outputs the pin pulling command to the automatic pin pulling mechanism through the PLC; step 402, the motion The control card drives the X-axis mobile platform, Y-axis mobile platform and Z-axis mobile platform to move respectively through the X-axis servo drive device, Y-axis servo drive device and Z-axis servo drive device, and drives the automatic pin pulling mechanism to move to the pinned electric drive. Above the wooden board, the PLC controls the automatic pin-pulling mechanism to pull out pins through the pin-pulling control element; step 403, the motion control card drives the X-axis mobile platform and the Y-axis respectively through the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device. The mobile platform and the Z-axis mobile platform move, driving the automatic pin pulling mechanism to move to the top of the pin library, and the PLC controls the automatic pin pulling mechanism through the pin pulling control element to put the extracted pins into the pin library; step 404, repeat steps 402 and 403, After all the pins on the bakelite board are pulled out, the motion control card passes through the X-axis servo drive device, the Y-axis servo The servo drive device and the Z-axis servo drive device respectively drive the X-axis mobile platform, Y-axis mobile platform and Z-axis mobile platform to move, and drive the X-axis mobile platform, Y-axis mobile platform and Z-axis mobile platform to move to the initial position, and the processing ends.

In one of the embodiments, in the step 10-step 40, the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator pass the pin position sensor, the pin pulling position sensor and the tool magazine respectively. The manipulator position sensor senses the moving position and outputs the sensed moving position information to the PLC.

In one embodiment, in the step 102-step 104, step 202-step 204, step 302-step 304 and step 402-step 404, the X-axis mobile platform, the Y-axis mobile platform and The Z-axis mobile platform senses its moving position through the X-axis displacement sensor, the Y-axis displacement sensor and the Z-axis displacement sensor respectively, and outputs the sensed moving position information to the motion control card.

The beneficial effects of the present invention are: 1. The X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform are respectively driven by the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device to realize three-axis linkage, and at the same time Real-time perception of the moving position through the X-axis displacement sensor, Y-axis displacement sensor and Z-axis displacement sensor can ensure the accuracy of the moving position of the electric spindle, tool magazine manipulator, automatic pin driving mechanism and automatic pin pulling mechanism ; 2. The automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator are controlled by PLC, and the real-time movement is sensed by the pinning position sensor, the pin pulling position sensor and the tool magazine manipulator position sensor respectively. position, which can ensure the processing and clamping accuracy of the automatic pinning mechanism, automatic pin pulling mechanism and tool magazine manipulator; 3. The whole equipment is controlled by motion control card and PLC, with high control precision, which can greatly improve the automation of PCB processing equipment, thereby improving production efficiency and success rate.

1: Equipment body

2: Industrial computer

3:PLC

4:Motion control card

5: X-axis mobile platform

6: Y-axis mobile platform

7: Z-axis mobile platform

8: X-axis servo drive device

9: Y-axis servo drive device

10: Z-axis servo drive device

11:Workbench

12: bakelite board

13: Electric spindle

14: Tool magazine manipulator

15: Automatic pinning mechanism

16: Automatic pin pulling mechanism

17: Pin Library

18: Tool magazine

19: X-axis displacement sensor

20: Y-axis displacement sensor

21: Z-axis displacement sensor

22: Pin position sensor

23: Pull pin position sensor

24: Tool magazine manipulator position sensor

25:Pin the control element

26: Pull pin control element

27: Manipulator control element

141: Manipulator body

142: Manipulator chuck

143: Manipulator up and down driving parts

151:Pinning manipulator

152: Dowel chuck

153: The upper and lower driving parts of the pin driving mechanism

154:Pin the pin and press down the driving part

155:Guiding parts of pin driving mechanism

156: Pin pressing mechanism

161:Pin puller manipulator

162: Pull pin chuck

163: The upper and lower driving parts of the pin pulling mechanism

164: Guide part of pin pulling mechanism

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is an enlarged view of A in Fig. 1 of the present invention.

Fig. 3 is a logic control block diagram of the present invention.

Fig. 4 is a structural schematic diagram of the tool magazine manipulator of the present invention.

Fig. 5 is a structural schematic diagram of the automatic pin driving mechanism of the present invention.

Fig. 6 is a structural schematic diagram of the automatic pin pulling mechanism of the present invention.

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1-Figure 3, a PCB automatic processing equipment with the function of automatically pulling out pins, including equipment body 1, industrial computer 2, motion control card 4, PLC3, set on one end of the equipment body 1 and along the horizontal direction The X-axis mobile platform 5 that is set, the Y-axis mobile platform 6 that is arranged below the X-axis mobile platform 5 and is perpendicular to the X-axis mobile platform 5, is arranged on the X-axis mobile platform 5 along the vertical direction and is connected to the Y-axis mobile platform 6 The vertically arranged Z-axis mobile platform 7 is connected with the X-axis mobile platform 5 and drives The X-axis servo driver 8 that moves the X-axis mobile platform 5, the Y-axis servo driver 9 that is connected with the Y-axis mobile platform 6 and drives the Y-axis mobile platform 6 to move, and is connected with the Z-axis mobile platform 7 and drives the Z-axis to move The Z-axis servo drive device 10 that the platform 7 moves, the Y-axis mobile platform 6 is provided with a worktable 11 that can move along it, the worktable 11 is provided with a bakelite board 12, and the Z-axis mobile platform 7 is An electric spindle 13, a tool magazine manipulator 14, an automatic pinning mechanism 15 and an automatic pin pulling mechanism 16 are respectively provided. The end of the workbench 11 near the X-axis moving platform 5 is provided with a pin magazine 17 and a tool magazine 18. The industrial computer 2 is connected with the motion control card 4, the PLC3 is connected with the motion control card 4, and the PLC3 is connected with the automatic pinning mechanism 15, the automatic The pin pulling mechanism 16 is connected with the tool magazine manipulator 14, and the motion control card 4 moves with the X-axis moving platform 5 and the Y-axis through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10 respectively. The platform 6 is connected to the Z-axis moving platform 7 , and the electric spindle 13 is connected to the motion control card 4 .

In this embodiment, the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 are respectively equipped with an X-axis displacement sensor 19, a Y-axis displacement sensor 20 and a Z-axis displacement sensor. 21 , the X-axis displacement sensor 19 , the Y-axis displacement sensor 20 and the Z-axis displacement sensor 21 are all connected to the motion control card 4 .

In this embodiment, the automatic pinning mechanism 15, the automatic pin pulling mechanism 16 and the tool magazine manipulator 14 are respectively provided with a pinning position sensor 22, a pin pulling position sensor 23 and a tool magazine manipulator position sensor. Detector 24, the pin position sensor 22, the pin position sensor 23 and the tool magazine manipulator position sensor 24 are all connected with the PLC3 connect.

The invention also discloses an automatic PCB processing method with the function of automatically pulling out pins, which includes the following steps: step 10, the industrial computer 2 retrieves the corresponding drilling pin hole instruction according to the position of the pin hole on the PCB to be processed, and moves the The control card 4 and PLC3 output the drilling pin hole instruction to the electric spindle 13 and the tool magazine manipulator 14 respectively, the electric spindle 13 and the tool magazine manipulator 14 move to the top of the tool magazine 18, and the tool magazine manipulator 14 grabs the required drill The electric spindle 13 completes the clamping of the drilling tool and moves to the top of the bakelite board 12 to be drilled, and completes the drilling operation of the bakelite board 12; step 20, the industrial computer 2 transfers and corresponds to the drill pin hole command pinning command, and output the pinning command to the automatic pinning mechanism 15 through PLC3, the automatic pinning mechanism 15 moves to the top of the pin storehouse 17, grabs the pins and moves to the bakelite board 12 where the drilling of pin holes is completed in step 10 Above, complete the pinning operation; step 30, fit the PCB with the pins on the bakelite board 12, assemble the PCB and fix it, the industrial computer 2 retrieves the corresponding PCB processing instructions, and passes the PCB processing instructions through the motion control card 4 and PLC3 They are respectively output to the electric spindle 13 and the tool magazine manipulator 14, the electric spindle 13 and the tool magazine manipulator 14 move to the top of the tool magazine 18, the tool magazine manipulator 14 grabs the required processing tool, and the electric spindle 13 completes the machining of the tool Clamp and move to the top of the PCB to be processed, complete the PCB processing operation and remove the PCB; step 40, the industrial computer 2 calls the pin pulling command corresponding to the pinning command, and outputs the pin pulling command to the automatic pin pulling command through PLC3 Mechanism 16, automatically pull out pin mechanism 16 and move to above the bakelite board 12 that has pin, extract pin and The extracted pins are put into the pin storehouse 17, and the operation of extracting the pins is completed, and the processing is finished.

In the present embodiment, the described step 10 is specifically as follows: step 101, the industrial computer 2 transfers the corresponding drilling pin hole instruction according to the pin hole position on the PCB to be processed, and drills the pin hole through the motion control card 4 and PLC3 The hole commands are respectively output to the electric spindle 13 and the tool magazine manipulator 14; step 102, the motion control card 4 drives the X-axis mobile platform 5 through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10 , the Y-axis mobile platform 6 and the Z-axis mobile platform 7 move, driving the tool magazine manipulator 14 and the electric spindle 13 to move to the top of the tool magazine 18, and the PLC3 controls the tool magazine manipulator 14 to grab the required drill through the manipulator control element 27. Knife, the motion control card 4 controls the electric spindle 13 to complete the clamping of the drill; step 103, the motion control card 4 drives the X axis servo drive device 8, the Y axis servo drive device 9 and the Z axis servo drive device 10 respectively. Axis mobile platform 5, Y-axis mobile platform 6 and Z-axis mobile platform 7 move to drive electric spindle 13 to move to the top of bakelite board 12 to be drilled, and motion control card 4 controls electric spindle 13 to start drilling pin holes; step 104 , repeat step 102 and step 103, after all drill pin holes on the bakelite board 12 are completed, the motion control card 4 drives the X-axis respectively through the X-axis servo driver 8, the Y-axis servo driver 9 and the Z-axis servo driver 10 The mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 move, driving the tool magazine manipulator 14 and the electric spindle 13 to move above the tool magazine 18, the motion control card 4 controls the electric spindle 13 to open, and the PLC3 controls the components through the manipulator 27 Control the tool magazine manipulator 14 and take off the drilling tool And place the removed drill into the tool magazine 18, then drive the X-axis moving platform 5 and the Z-axis moving platform 7 to move to the initial position, and enter step 20.

In the present embodiment, the described step 20 is specifically as follows: step 201, the industrial computer 2 transfers the pinning command corresponding to the drilling pin hole command, and outputs the pinning command to the automatic pinning mechanism 15 by PLC3; step 202 , the motion control card 4 respectively drives the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 to move through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10 to drive the automatic printing The pin mechanism 15 moves to the top of the pin storehouse 17, and the PLC3 controls the automatic pinning mechanism 15 to grab the pins through the pinning control element 25; step 203, the motion control card 4 passes the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z axis The axis servo drive device 10 respectively drives the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 to move, and drives the automatic pinning mechanism 15 to move to the top of the bakelite board 12 that has completed the drilling pin hole operation in step 10, and the PLC3 passes through The pin control element 25 controls the automatic pinning mechanism 15 to drive the pin grabbed into the pin hole; step 204, repeat step 202 and step 203, and the position of the pin hole to be drilled on the bakelite board 12 is all driven into the pin, and the motion control card 4 Drive the X-axis mobile platform 5, Y-axis mobile platform 6 and Z-axis mobile platform 7 through the X-axis servo drive device 8, Y-axis servo drive device 9 and Z-axis servo drive device 10 to drive the X-axis mobile platform 5 and The Z-axis moving platform 7 moves to the initial position, and enters step 30.

In this embodiment, the step 30 is specifically as follows: Step 301, fit the PCB with the pins on the bakelite board 12, assemble the PCB and fix it, the industrial computer 2 retrieves the corresponding PCB processing command, and outputs the command of drilling pin holes to the electric spindle 13 through the motion control card 4 and PLC3 respectively and the tool magazine manipulator 14 step 302, the motion control card 4 respectively drives the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10 The mobile platform 7 moves, driving the tool magazine manipulator 14 and the electric spindle 13 to move to the top of the tool magazine 18, the PLC3 controls the tool magazine manipulator 14 to grab the required processing tools through the manipulator control element 27, and the motion control card 4 controls the electric spindle 13 Complete the clamping of the required processing tool; step 303, the motion control card 4 drives the X-axis mobile platform 5, Y The axis moving platform 6 and the Z axis moving platform 7 move, driving the electric spindle 13 to move to the top of the PCB to be processed, and the motion control card 4 controls the electric spindle 13 to start PCB processing; step 304, repeat steps 302 and 303, and the PCB processing operation After completion, the motion control card 4 respectively drives the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 to move through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10, driving The tool magazine manipulator 14 and the electric spindle 13 move to the top of the tool magazine 18, the motion control card 4 controls the electric spindle 13 to open, and the PLC3 controls the tool magazine manipulator 14 through the manipulator control element 27 to remove the processing tool and the removed processing tool Put it into the tool magazine 18, and then drive the X-axis mobile platform 5 and the Z-axis to move The platform 7 moves to the initial position, and enters step 40 .

In the present embodiment, the described step 40 is specifically as follows: step 401, the industrial computer 2 transfers the pin pulling command corresponding to the pinning command, and outputs the pin pulling command to the automatic pin pulling mechanism 16 through the PLC3; step 402, The motion control card 4 drives the X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform 7 to move respectively through the X-axis servo drive device 8, the Y-axis servo drive device 9 and the Z-axis servo drive device 10, and drives the automatic pin pulling The mechanism 16 moves to the top of the bakelite board 12 with pins, and the PLC3 controls the automatic pin pulling mechanism 16 to pull out the pins through the pin pulling control element 26; step 403, the motion control card 4 passes the x-axis servo drive device 8 and the Y-axis servo drive device 9 and the Z-axis servo drive device 10 respectively drive the X-axis moving platform 5, the Y-axis moving platform 6 and the Z-axis moving platform 7 to move, and drive the automatic pin pulling mechanism 16 to move to the top of the pin library 17, and the PLC3 controls the automatic pin pulling through the pin pulling control element 26 The pin pulling mechanism 16 puts the extracted pins into the pin storehouse 17; step 404, repeating steps 402 and 403, after all the pins on the bakelite board 12 are all extracted, the motion control card 4 passes through the X-axis servo drive device 8, Y Axis servo drive device 9 and Z-axis servo drive device 10 respectively drive X-axis mobile platform 5, Y-axis mobile platform 6 and Z-axis mobile platform 7 to move, and drive X-axis mobile platform 5, Y-axis mobile platform 6 and Z-axis mobile platform 7 Move to the initial position, and the processing ends.

In the present embodiment, in the step 10-step 40, the described automatic pinning mechanism 15, the automatic pin pulling mechanism 16 and the tool magazine manipulator 14 pass through the pinning mechanism respectively. The position sensor 22, the pin pulling position sensor 23 and the tool magazine manipulator position sensor 24 sense the moving position and output the sensed moving position information to the PLC3.

In this embodiment, in the steps 102-step 104, step 202-step 204, step 302-step 304 and step 402-step 404, the X-axis mobile platform 5 and the Y-axis mobile platform 6 and the Z-axis mobile platform 7 respectively sense its moving position through the X-axis displacement sensor 19 , the Y-axis displacement sensor 20 and the Z-axis displacement sensor 21 and output the sensed moving position information to the motion control card 4 .

The pin driving control element 25, the pin pulling control element 26 and the manipulator control element 27 described in the present invention can be multiple control elements such as solenoid valves and hydraulic stations, which are set according to different situations.

As shown in FIG. 4 , the tool magazine manipulator 14 of the present invention includes a manipulator body 141 , a manipulator chuck 142 and a manipulator up and down driving part 143 . The manipulator body 141 receives the command that the PLC3 sends to the manipulator control element 27 to control the opening and closing of the manipulator chuck 142; the manipulator chuck 142 is used to clamp the tool in the tool magazine 18; Receive the instruction sent by PLC3 to the manipulator control element 27, drive the manipulator body 141 and the manipulator chuck 142 to move down.

As shown in Figure 5, the automatic pinning mechanism 15 of the present invention includes a pinning manipulator 151, a pinning chuck 152, a pinning mechanism up and down driving part 153, a pinning down pressing drive part 154, and a pinning mechanism guide part 155 and hit pin and press down mechanism 156. The pinning manipulator 151 receives the command sent by the PLC3 to the pinning control element 25, and controls the opening and closing of the pinning chuck 152; the pinning manipulator 151 can be equipped with various power sources such as electric, hydraulic or pneumatic, according to different power sources. Source matching Corresponding control and execution electrical components; the pinning chuck 152 is used to clamp the pins in the pin storehouse 17; the upper and lower driving parts 153 of the pinning mechanism receive the instructions issued by the PLC3 to the pinning control element 25 and guide the parts 155 along the pinning mechanism Move up and down, and judge whether its up and down movement is in place by the pinning position sensor 22 provided; the pinning down driving part 154 receives the command that PLC3 sends to the pinning control element 25, and drives the pinning down pressing mechanism 156 to do knocking Exercise to complete the pinning operation. The entire automatic pinning mechanism 15 realizes the pinning operation through the PLC3 and the pinning control element 25 according to the control command sent from the industrial computer 2, and realizes the work of the whole mechanism with the assistance of the pinning position sensor 22.

As shown in FIG. 6 , the automatic pin pulling mechanism 16 of the present invention includes a pin pulling manipulator 161 , a pin pulling chuck 162 , a pin pulling mechanism up and down driving part 163 and a pin pulling mechanism guide part 164 . The pin pulling manipulator 161 receives the instruction sent by PLC3 to the pin pulling control element 26, and controls the opening and closing of the pin pulling chuck 162; the driving parts of the pin pulling manipulator 161 can be electric, hydraulic or pneumatic and other power sources, depending on The corresponding control and executive electrical components are matched with the power source; the pin pulling chuck 162 is used to clamp the pin on the bakelite board 12; the upper and lower driving parts 163 of the pin pulling mechanism receive the instructions issued by the PLC3 to the pin pulling control element 26 and drive the pin along the The mechanism guide part 155 moves up and down, and judges whether its up and down movement is in place through the provided pin pulling position sensor 23 . The entire automatic pin pulling mechanism 16 realizes the pin pulling operation through the PLC3 and the pin pulling control element 26 according to the control command sent from the industrial computer 2, and realizes the work of the whole mechanism with the assistance of the pin pulling position sensor 23.

The X-axis mobile platform 5, the Y-axis mobile platform 6 and the Z-axis mobile platform of the present invention Table 7 is respectively driven by X-axis servo drive device 8, Y-axis servo drive device 9 and Z-axis servo drive device 10 to realize three-axis linkage. The axial displacement sensor 21 senses the moving position in real time, which can ensure the accuracy of the moving positions of the electric spindle 13, the tool magazine manipulator 14, the automatic pinning mechanism 15 and the automatic pin pulling mechanism 16; the automatic pinning mechanism 15 and the automatic pin pulling mechanism 16 and the tool magazine manipulator 14 are controlled by PLC3, and sense the moving position in real time through the pin driving position sensor 22, the pin pulling position sensor 23 and the tool magazine manipulator position sensor 24 respectively, which can ensure automatic pin driving The processing and clamping accuracy of mechanism 15, automatic pin pulling mechanism 16 and tool magazine manipulator 14; the whole equipment is controlled by motion control card 4 and PLC3, with high control precision, which can greatly improve the automation degree of PCB processing equipment, thereby improving production efficiency and success rate.

The above-mentioned embodiments only express the specific implementation manner of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the present invention. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

2: Industrial computer

3:PLC

4:Motion control card

5: X-axis mobile platform

6: Y-axis mobile platform

7: Z-axis mobile platform

8: X-axis servo drive device

9: Y-axis servo drive device

10: Z-axis servo drive device

13: Electric spindle

14: Tool magazine manipulator

15: Automatic pinning mechanism

16: Automatic pin pulling mechanism

19: X-axis displacement sensor

20: Y-axis displacement sensor

21: Z-axis displacement sensor

22: Pin position sensor

23: Pull pin position sensor

24: Tool magazine manipulator position sensor

25:Pin the control element

26: Pull pin control element

27: Manipulator control element

Claims (7)

An automatic PCB processing method with the function of automatically pulling out pins, comprising an automatic PCB processing device with the function of automatically pulling out pins, the described automatic PCB processing device with the function of automatically pulling out pins includes a device body, an industrial computer, and a motion control card , PLC, an X-axis moving platform arranged at one end of the device body and arranged along the horizontal direction, a Y-axis moving platform arranged below the X-axis moving platform and perpendicular to the X-axis moving platform, extending vertically A Z-axis mobile platform arranged on the X-axis mobile platform and perpendicular to the Y-axis mobile platform, an X-axis servo drive device connected to the X-axis mobile platform and driving the X-axis mobile platform to move, A Y-axis servo drive device connected to the Y-axis mobile platform and driving the Y-axis mobile platform to move, and a Z-axis servo drive device connected to the Z-axis mobile platform and driving the Z-axis mobile platform to move, the The Y-axis mobile platform is provided with a workbench that can move along it. The workbench is provided with a bakelite board. The Z-axis mobile platform is respectively equipped with an electric spindle, a tool magazine manipulator, an automatic pinning mechanism and an automatic puller. A pin mechanism, the end of the workbench close to the X-axis mobile platform is provided with a pin magazine and a tool magazine, the industrial computer is connected to the motion control card, the PLC is connected to the motion control card, and the PLC The pinning control element, the pin pulling control element and the manipulator control element are respectively connected with the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator, and the motion control card is respectively passed through the X-axis The servo driving device, the Y-axis servo driving device and the Z-axis servo driving device are connected to the X-axis moving platform, the Y-axis moving platform and the Z-axis moving platform, and the electric spindle is connected to the moving The control card is connected to the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform An X-axis displacement sensor, a Y-axis displacement sensor and a Z-axis displacement sensor are respectively provided, and the X-axis displacement sensor, the Y-axis displacement sensor and the Z-axis displacement sensor Both are connected with the motion control card, and the automatic pinning mechanism, the automatic pin pulling mechanism and the tool magazine manipulator are respectively provided with a pinning position sensor, a pin pulling position sensor and a tool magazine mechanical arm. The hand position sensor, the pin position sensor, the pin pulling position sensor and the tool magazine manipulator position sensor are all connected to the PLC, and the pin with automatic pin pulling function The PCB automatic processing method includes the following steps: step 10, the industrial computer retrieves the corresponding drilling pin hole instruction according to the position of the pin hole on the PCB to be processed, and transmits the drill pin hole command through the motion control card and the PLC. The drilling pin hole command is output to the electric spindle and the tool magazine manipulator respectively, the electric spindle and the tool magazine manipulator move to the top of the tool magazine, and the tool magazine manipulator grabs the required Drilling tool, the electric spindle completes the clamping of the drilling tool and moves to the top of the bakelite board to be drilled, and completes the drill pin hole operation of the bakelite board; step 20, the industrial computer adjustment Get the pinning command corresponding to the drilling pin hole command, and output the pinning command to the automatic pinning mechanism through the PLC, and the automatic pinning mechanism moves to the top of the pin library, grabs Pin and move to the top of the bakelite board where the drill pin hole operation has been completed in step 10, and complete the pin operation; step 30, fit the PCB with the pin on the bakelite board, and assemble the PCB and fixed, the industrial computer retrieves the corresponding PCB processing instruction, and passes Outputting the PCB processing instructions to the electric spindle and the tool magazine manipulator respectively through the motion control card and the PLC, the electric spindle and the tool magazine manipulator move to the top of the tool magazine, The tool magazine manipulator grabs the required processing tool, the electric spindle completes the clamping of the processing tool and moves to the top of the PCB to be processed, completes the PCB processing operation and removes the PCB and step 40, the industrial computer transfers the pin pulling instruction corresponding to the pinning instruction, and outputs the pin pulling instruction to the automatic pin pulling mechanism through the PLC, and the automatic pin pulling mechanism moves To the top of the bakelite board with the pins, extract the pins and put the extracted pins into the pin store, complete the pin extraction operation, and the processing is completed. The PCB automatic processing method with the function of automatically pulling out pins as described in claim 1, wherein the step 10 includes: step 101, the industrial computer adjusts the position of the pin hole on the PCB to be processed Get the corresponding drill pin hole instruction, and output the drill pin hole instruction to the electric spindle and the tool magazine manipulator respectively through the motion control card and the PLC; Step 102, the motion control The card drives the X-axis moving platform, the Y-axis moving platform and the Z-axis moving platform to move respectively through the X-axis servo driving device, the Y-axis servo driving device and the Z-axis servo driving device, driving The tool magazine manipulator and the electric spindle move above the tool magazine, the PLC controls the tool magazine manipulator to grab the required drill through the manipulator control element, and the motion control The card controls the electric spindle to complete the clamping of the drill; Step 103, the motion control card respectively drives the X-axis mobile platform, the Y-axis mobile platform and the The Z-axis mobile platform moves to drive the electric spindle to move above the bakelite board to be drilled, and the motion control card controls the electric spindle to start the drilling operation; and step 104, repeat steps 102 and Step 103, after all the drilling operations on the bakelite board are completed, the motion control card is respectively driven by the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device The X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform move to drive the tool magazine manipulator and the electric spindle to move above the tool magazine, and the motion control card controls the The electric spindle is turned on, and the PLC controls the tool magazine manipulator through the manipulator control element to remove the drill bit and place the removed drill bit into the tool magazine, and then drives the X-axis mobile platform and the Z-axis moving platform moves to the initial position, and enters step 20. The PCB automatic processing method with the function of automatically pulling out pins as described in claim 2, wherein the step 20 includes: step 201, the industrial computer calls the pinning corresponding to the drilling pin hole command command, and output the pinning command to the automatic pinning mechanism through the PLC; step 202, the motion control card passes the X-axis servo drive device, the Y-axis servo drive device and the Z The axis servo drive device respectively drives the movement of the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to drive the The automatic pinning mechanism moves to the top of the pin library, and the PLC controls the automatic pinning mechanism to grab the pins through the pinning control element; step 203, the motion control card passes the X-axis servo The driving device, the Y-axis servo driving device and the Z-axis servo driving device respectively drive the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, and drive the automatic pinning mechanism to move To the top of the bakelite board on which the drilling pin hole operation has been completed in step 10, the PLC controls the automatic pinning mechanism through the pinning control element to drive the captured pin into the pin hole; and step 204 , Repeat step 202 and step 203, until the positions where the pin holes are drilled on the bakelite board are driven into the pins, the motion control card passes through the X-axis servo drive device, the Y-axis servo drive device and the The Z-axis servo driving device respectively drives the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, drives the X-axis mobile platform and the Z-axis mobile platform to move to the initial position, enters Step 30. The PCB automatic processing method with the function of automatically pulling out pins as described in claim item 3, wherein the step 30 includes: step 301, fitting the PCB with the pins on the bakelite board, and assembling the The PCB is fixed and fixed, the industrial computer retrieves the corresponding PCB processing instructions, and outputs the drilling pin hole instructions to the electric spindle and the tool magazine through the motion control card and the PLC respectively. Hand; step 302, the motion control card respectively drives the X-axis through the X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device The mobile platform, the Y-axis mobile platform and the Z-axis mobile platform move to drive the tool magazine manipulator and the electric spindle to move above the tool magazine, and the PLC controls the The manipulator of the tool magazine grabs the required processing tool, and the motion control card controls the electric spindle to complete the clamping of the required processing tool; step 303, the motion control card passes through the The X-axis servo drive device, the Y-axis servo drive device and the Z-axis servo drive device respectively drive the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, and drive the electric spindle Move to the top of the PCB to be processed, the motion control card controls the electric spindle to start the PCB processing operation; and step 304, repeat step 302 and step 303, after the PCB processing operation is completed, the motion control card passes through the X-axis The servo drive device, the Y-axis servo drive device and the Z-axis servo drive device respectively drive the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, and drive the tool magazine manipulator and the electric spindle moves above the tool magazine, the motion control card controls the electric spindle to open, and the PLC controls the tool magazine manipulator through the manipulator control element to remove the machining tool and The lower processing tool is placed in the tool magazine, and then the X-axis moving platform and the Z-axis moving platform are driven to move to the initial position, and step 40 is entered. The PCB automatic processing method with the function of automatically pulling out pins as described in claim item 4, wherein the step 40 includes: step 401, the industrial computer calls the corresponding to the pinning instruction pin pulling instruction, and output the pin pulling instruction to the automatic pin pulling mechanism through the PLC; step 402, the motion control card passes the X-axis servo drive device, the Y-axis servo drive device and the The Z-axis servo drive device respectively drives the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, and drives the automatic pin pulling mechanism to move above the bakelite board with the pins , the PLC controls the automatic pin pulling mechanism to pull the pin through the pin pulling control element; step 403, the motion control card passes the X-axis servo drive device, the Y-axis servo drive device and the The Z-axis servo drive device respectively drives the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform to move, drives the automatic pin pulling mechanism to move above the pin library, and the PLC passes the The pin pulling control element controls the automatic pin pulling mechanism to put the extracted pins into the pin storehouse; and step 404, repeating steps 402 and 403, after all the pins on the bakelite board are extracted , the motion control card drives the X-axis moving platform, the Y-axis moving platform and the Z-axis respectively through the X-axis servo driving device, the Y-axis servo driving device and the Z-axis servo driving device The moving platform moves to drive the X-axis moving platform, the Y-axis moving platform and the Z-axis moving platform to move to the initial position, and the processing ends. The PCB automatic processing method with the function of automatically pulling out pins as described in claim 5, wherein in the step 10-step 40, the automatic pinning mechanism, The automatic pin pulling mechanism and the tool magazine manipulator sense the moving position through the pin driving position sensor, the pin pulling position sensor and the tool magazine manipulator position sensor respectively and will sense The mobile position information of is output to the PLC. The PCB automatic processing method with the function of automatically pulling out pins as described in claim 6, wherein the steps 102-step 104, step 202-step 204, step 302-step 304 and step 402-step 404 , the X-axis mobile platform, the Y-axis mobile platform and the Z-axis mobile platform pass through the X-axis displacement sensor, the Y-axis displacement sensor and the Z-axis displacement sensor respectively Sensing its moving position and outputting the sensed moving position information to the motion control card.

Images